Study on the Robust Filter Method of SINS/DVL Integrated Navigation Systems in a Complex Underwater Environment

This paper proposes an improved adaptive filtering algorithm based on the Sage-Husa adaptive Kalman filtering algorithm to address the issue of measurement noise characteristics impacting the navigation accuracy in strapdown inertial navigation system (SINS)/Doppler Velocity Log (DVL) integrated navigation systems. Addressing the non-positive definite matrix problem prevalent in traditional adaptive filtering algorithms and aiming to enhance measurement noise estimation accuracy, this method incorporates upper and lower thresholds determined by a discrimination factor. In the presence of abnormal measurement data, these thresholds are utilized to adjust the covariance of the innovation, subsequently re-estimating the system's measurement noise through a decision factor based on the innovation. Simulation and experiment results demonstrate that the proposed improved adaptive filtering algorithm outperforms the classical Kalman filter (KF) in terms of navigation accuracy and stability. Furthermore, the filtering performance surpasses that of the Sage-Husa algorithm. The simulation results in this paper show that the relative position positioning error of the improved method is reduced by 49.44% compared with the Sage-Husa filtering method.